Location: 207 Brevard Ave. Cocoa, FL 32922
Historic Cocoa Village
Phone: 321-631-1133
Public Parking next to REC225
What is happening at Milpa
Weekly Specials
Margarita Monday
5
Our house hand shaken margarita
Taco Tuesday
19.95
All you can eat tacos
Wine-down Wednesday
1/2 price
Half price on all bottled beer and bottles of wine
Thirsty Thursday
1/2 price
Half price on all dips and house lime margarita
TGIF
2x1
Two for one on all drinks from 2-5
Saturday and Sunday Brunch 11-3
18
Unlimited Mimosas
Lunch Time
14
Mix & Match, Tuesday to Friday 12pm - 3pm
Events Coming Up...
Celebrate Love This Valentine’s Day Weekend at Milpa Sat 02/13 & Sun 02/14
This Valentine’s Day, share an unforgettable evening with your special someone at Milpa, where authentic flavors, handcrafted cocktails, and a warm atmosphere come together in the heart of Cocoa Village.
🌮 Homemade Mexican food
🍹 Cocktails and margaritas made with love
✨ The perfect place to toast, connect, and celebrate love
Because love tastes better with great food and meaningful moments.
📍 Reserve your table and celebrate Valentine’s Day the Milpa way.
Milpa Tacos and Tortillas ❤️
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Open daily Hours
Sunday 11am-7pm (Brunch)
Monday 4pm-9pm (Margarita Monday)
Tuesday 12pm-9pm (Lunch - Taco Tuesday)
Wednesday 12pm-9pm (Lunch - Wine-down Wednesday)
Thursday 12am-9pm (Lunch - Thirsty Thursday)
Friday 11am-10pm (Lunch - TGIF 2x1 drinks)
Saturday 11am-10pm (Brunch)
We're Hiring!
Join our Team
About Us
Mission
The mission of Milpa team is to honor the food, essence and culture of Mexico by offering uniquely prepared dishes from scratch with only the best possible ingredients and service.
The Milpa concept is to feature modern Mexican cuisine and flavors from all parts of Mexico from Baja California to Jalisco to Oaxaca.
We specialize in making our own tortillas and a variety of salsas from scratch no one else has.
At Milpa there is an attention to details that take each dish up a notch by our chef the cuisine Chef Dickson Fernandez that serves each taco with it's own salsa that complements and balances all the ingredients for each taco perfectly.
Our cocktail menu focuses on agave based drinks with a concentration on Mezcal. Our wine list brings you great Mexican wines hard to find along with many others that pair well with our dishes.
What differentiates Milpa from other Mexican restaurants is its unique blend of authentic Mexican flavors and ingredients that are bold while still being approachable in the upmost comfortable setting.
"Sin maiz no hay pais "
Artisan Tacos & Craft Bar
Menu
Tacos (We recommend 3-4 tacos per person)
Our corn tortillas are made from scratch using 100% organic corn, gluten-free
Chicharron Taco
4.95
Fried pork Belly, pico de gallo, cilantro.
Carnitas Taco
4.50
Braised pork, pickled onion, cilantro.
Arrachera Taco
4.95
Skirt steak, ember roasted onions, avocado salsa, cilantro.
Wild Mushroom Taco
4.35
Smoked wine reduction sauce, cilantro. (Vegetarian option)
Ensenada Fish Taco
4.50
Beer battered, choice of (mahi or shrimp) red cabbage, red onions, chipotle cream, cilantro.
Cachete Taco
4.95
Beef cheek, red onion, cilantro.
Tinga Taco
4.35
Shredded chicken, smoked chipotle, fresh cheese, sour cream, cilantro.
Al Pastor Taco
4.95
Marinated pork, avocado sauce, pineapple, red onion, cilantro.
Vegan Taco
4.95
Soy meat, onion, avocado sauce, cilantro. (Vegetarian option)
NEW Chorizo Taco
4.75
Ground Mexican Chorizo, ember roasted onion, fresh cilantro and fresh red onion
Botanas/Appetizers
Guacamole
MP
Avocado, red onion, jalapeno, cilantro, tomatoes, queso fresco, and tostadas. (Vegetarian option)
NEW Salsas Flight
8
Salsa Molcajete Roja Salsa Verde Tomatillo and Salsa Taquera Spicy. Served with chips.
Queso Blanco Dip
10
Blend white cheeses, pickled jalapeños. Served with corn chips
NEW Chori-Queso Fundo
15
Chihuahua & Monterrey Blend, Mexican chorizo, Chile toreado, served with warm homemade tortillas
Aguachile Oysters 6/12
MP
Fresh oysters from Virginia, on half the shell, lime, jalapeño, and salsa Aguachile.
Tuna Crudo Tostadas
16
Fried tortilla, avocado spread, tuna, ponzu sauce, scallions, jalapeno, chipotle drops, sesame seeds.
Flautas Doradas
14
Three fried corn tortillas, shredded chicken, avocado cream sauce, queso fresco, cilantro, and sour cream.
Tortilla Soup
7
Shredded chicken, avocado, cream, tortilla crisps, broth
Milpa Salad
18
Mixed greens, grilled chicken, cherry tomatoes, cucumber, pepitas, citrus vinaigrette.
Los platos/Main plates
Mole con Pollo
MP
Bone-in-chicken, Oaxaca dried chiles sauce. Served with rice & warm corn tortillas. *Please allow extra time for preparation* (Dish contains nuts)
Enchiladas verdes
18
Shredded chicken or sauteed spinach, tomatillo salsa, red onions, queso fresco, crema.
Chiles Rellenos
22
Poblano peppers, fresh cheese, egg white batter, crema, red sauce. Served with rice
Cochinita Pibil
24
Achiote marinated pork, pickled red onions. Served with black beans and homemade tortillas.
Chipotle Shrimp
29
Large shrimp, creamy chipotle, ember onions, bacon, mushrooms. Served with rice & tortilla.
Pollo Adobado
24
Adobado marinated chicken, rice, sautéed spinach, zucchini, cilantro crema, and pineapple salsa.
Carne Asada Angus
32
Grilled skirt steak, roasted peppers and onions. Served with Mexican rice and beans
Enmoladas
22
Corn tortilla, shredded chicken, mole, avocado, crema, queso fresco, and red onion. (Dish contains peanuts)
Sides
Tortillas Variety of the day (6ct)
3
Blue corn, yellow corn, or mixed
Frijol
3
Beans
Arroz
4
Yellow rice
Seasonal vegetables
4
Mushrooms, Onions & Zucchini
Postres/Desserts
Tres Leches
9
Flan Brûlée
9
Oaxacan Brownie
9
Oaxacan chocolate brownie, vanilla ice cream, cajeta, wel
Milpa's Cocktails
Milperita (NEW VERSION)
12
Rompe Corazon mezcal, Pueblo Viejo tequila fresh grapefruit juice, agave syrup, house waffle and sorbet
Ranch water
12
Tequila Centenario reposado, Topo Chico, freshly squeezed lime, and tajin rim.
Mezcal Mule
16
Rompe Corazon mezcal, freshly squeezed lime juice, natural tamarind juice, house-made ginger syrup.
Oaxaca Old Fashioned (NEW VERSION)
14
Bourbon, Rompe Corazon mezcal, agave, chocolate bitters.
Paloma Aperol Spritz
14
Pueblo viejo tequila, Aperol, freshly squeezed grapefruit and lime juice, prosecco.
NEW Naked & Famoso
14
Mezcal, Chartreuse, Aperol, lime
NEW Rosa Mexicano
13
Mexican Gin, Campari, Lemon, Bitters and house Oleo
New Caribe Libre
15
Rum Flor de Caña, Aperol, Lime, Orange Juice, Pineapple and Almond Falernum
Los clásicos
Margarita
10
Tequila or mezcal, freshly squeezed lime juice, and house-made simple syrup.
Flavored margarita
11
Tamarind- Natural juice
Coconut
Spicy- (Fresh jalapenos)
Guava- Natural juice
Hibiscus
Cantarito
13
Tequila or mezcal, freshly squeezed lime orange and grapefruit juice, soda
Carajillo
13
Licor 43, espresso
Michelada
9
Spice blend, lime, beer
Sangria roja
12
Red wine blend with a special mic of fresh citrus juices and spices.
Vino
Sauvignon Blanc, Monte Xanic Valle de Guadalupe, Mexico '22
14/45
Aromatic smooth yet dry bright acidity, zesty citrus lemon tea mineral. Recommended pairing: oysters.
Chardonay, Monte Xanic Valle Guadalupe, Mexico '22
15/50
Greatly balances refreshing acidity with a variety of fruit undertones and honey chamomile tea.
Recommended pairing: Shrimp, ensenada tacos, queso blanco.
Rose, Monte Xanic ojos negros, Mexico '22
15/50
100% granache, aromatic intense crips acidity, ripe strawberry, tangy citrus.
Recommended pairing: Oysters, ensenada tacos, esquites.
Cab-Syrah Monte Xanic Valle de Guadalupe, Vegan, Mexico '22
17/65
80% Cabernet Sauvignon and 20% Syrah, ripe black fruit with dense chewy silky tannins.
Recommended pairing: Mole, Carnitas taco
Carbenet Sauvignon Monte Xanic Valle de Guadalupe, Mexico '22
80
Hight intensity & complexity, full bodied, ripe plumps, Mexican vanilla, cocoa.
Recommended pairing: Arrachera taco, Chicharron taco.
(New) Barbera, Santo Tomas, Baja California '22
84
100% Barbera, red fruits aroma and notes of cranberry, tobacco, smoke and licorice
(Deluxe) Unico Gran Reserva, Santo Tomas, Baja California
130
Deluxe selection 60% Cabernet Sauvignon and 40% Merlot. Wild berries, notes of cacao and vainilla, spices and flowers, with a hint of leather
Pinot Noir, Pas de Probleme, Languedoc, France '22
15/55
Malbec, Jelu, Argentina '22
14/55
Canyon Road
9
Cervezas/Beers
Ultra
4
Yuengling larger
4
High Noon seltzer
5
Corona
7
Modelo Especial
7
Pacifico
7
Victoria
7
Modelo Negra
7
Corona light
7
Voodoo Ranger IPA
7
Heineken
7
Heineken 0.0
7
Soft drinks and others.
Non alcoholic
Fountain soda
4
Coke, Diet Coke, Sprite, Minute maid, Iced tea. (free refills)
Mexican Coke
4
Bottled soda
Jarritos Soda
4
Bottled soda: grapefruit, mandarin, pineapple.
Topo chico
4
Sparkling water
Aguas Frescas
6
Lime, mango, hibiscus, coconut, tamarindo.
Coffee
3
Nespresso
5
Kids menu
Orange wedges
2
Orange juice (Natalie's Natural)
4
Milk
4
Chicken fingers
8
Quesadilla cheese
8
Soft Chicken taco
8
Quesadilla cheese and chicken
9
Lunch Time: Tuesday to Friday 12pm - 3pm
Mix & Match: Choose two tacos and two sides of your choice
14
TACOS: Tinga, Carnitas, Arrachera, Ensenada or Mushroom
SIDES: Yellow Rice, Beans, Esquites or Grilled Veggies
Weekend Special Meals
Birria plate
28
Marinated for 24 hours, then slow cooked for 4 hours- this meat trio of goat, oxtail, and pork ribs marries into the famous Jalisco stew- served with rice, beans, and corn tortillas.
Birria tacos
18
4 tacos. Birria, (trio meat stew) Monterey Jack cheese, onion, and cilantro.
Brunch: Served 11am- 3pm. Only Saturday and Sunday.
Enchiladas Verdes with Egg
18
Corn tortillas, shredded chicken or sauteed spinach, tomatillo salsa, queso fresco, crema
Enmoladas with Egg
18
Corn tortillas, shredded chicken, mole, avocado, crema, queso fresco, red onion.
Huevos Rancheros
18
2 Eggs over easy smothered in red and green salsa, crema, queso fresco> Served with beans & homemade tortillas.
French Toast con Fresas
15
French toast topped with strawberries, fresh cream, and cajeta.
Avocado Toast
18
2 slices of bread toasted, smothered with fresh avocado, topped with eggs, queso fresco and cherry tomatoes
Bacon strips (3)
5
Bottomless Mimosas
18
Jugo Verde
18
Cold pressed natural juice
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